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A novel robot system for large size in-pipe surface inspection is presented. The proposed system is suitable to the large size pipes with diameter from Phi580 mm to Phi1000 mm. The accuracy of the system is so high that the measurement error is within 5/1000 millimeter. The equipment initialization can be implemented automatically for various objects with different sizes due to its intelligent design. The rate of data scanning and processing is so fast that the inspection report about ellipticity and roughness etc. can be on line offered.